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\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 摘\hskip 1em\relax 要}{I}{section*.2}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont ABSTRACT}{III}{section*.6}%
\vspace {\baselineskip }
\contentsline {chapter}{\numberline {第1章\hspace {.3em}}绪论}{1}{section*.11}%
\contentsline {section}{\numberline {1.1}课题来源及研究意义}{1}{section*.13}%
\contentsline {subsection}{\numberline {1.1.1}课题来源}{1}{section*.15}%
\contentsline {subsection}{\numberline {1.1.2}课题研究背景与意义}{1}{section*.17}%
\contentsline {section}{\numberline {1.2}国内外研究现状}{3}{section*.19}%
\contentsline {subsection}{\numberline {1.2.1}典型拒止环境中多智能体系统的应用}{4}{section*.21}%
\contentsline {subsection}{\numberline {1.2.2}构型协同控制方法研究现状}{7}{section*.39}%
\contentsline {subsection}{\numberline {1.2.3}构型规划方法的研究现状}{9}{section*.42}%
\contentsline {subsection}{\numberline {1.2.4}协同定位方法的研究现状}{12}{section*.46}%
\contentsline {subsection}{\numberline {1.2.5}不确定性规划方法的研究现状}{14}{section*.48}%
\contentsline {subsection}{\numberline {1.2.6}存在的问题和挑战}{15}{section*.50}%
\contentsline {section}{\numberline {1.3}主要研究内容与章节安排}{17}{section*.53}%
\contentsline {chapter}{\numberline {第2章\hspace {.3em}}基于相对测量的包围构型协同控制方法}{19}{section*.56}%
\contentsline {section}{\numberline {2.1}引言}{19}{section*.58}%
\contentsline {section}{\numberline {2.2}问题描述}{20}{section*.60}%
\contentsline {subsection}{\numberline {2.2.1}通用符号}{20}{section*.62}%
\contentsline {subsection}{\numberline {2.2.2}图论}{20}{section*.64}%
\contentsline {subsection}{\numberline {2.2.3}包围构型控制问题}{21}{section*.66}%
\contentsline {section}{\numberline {2.3}基于绝对位置信息的包围控制方法}{22}{section*.71}%
\contentsline {subsection}{\numberline {2.3.1}领导者平均位置$\bar {x}_L$已知}{23}{section*.77}%
\contentsline {subsection}{\numberline {2.3.2}领导者平均位置$\bar {x}_L$未知}{26}{section*.82}%
\contentsline {subsection}{\numberline {2.3.3}数值仿真结果}{30}{section*.103}%
\contentsline {section}{\numberline {2.4}基于相对测量信息的包围控制方法}{31}{section*.105}%
\contentsline {subsection}{\numberline {2.4.1}平均距离已知}{32}{section*.107}%
\contentsline {subsection}{\numberline {2.4.2}平均距离未知}{32}{section*.110}%
\contentsline {subsection}{\numberline {2.4.3}数值仿真结果}{37}{section*.120}%
\contentsline {section}{\numberline {2.5}小结}{39}{section*.131}%
\contentsline {chapter}{\numberline {第3章\hspace {.3em}}面向PDOP定位构型的构型控制方法}{40}{section*.133}%
\contentsline {section}{\numberline {3.1}引言}{40}{section*.135}%
\contentsline {section}{\numberline {3.2}问题描述}{41}{section*.137}%
\contentsline {subsection}{\numberline {3.2.1}场景与数学符号定义}{41}{section*.139}%
\contentsline {subsection}{\numberline {3.2.2}精度因子}{42}{section*.142}%
\contentsline {section}{\numberline {3.3}PDOP场的协同覆盖优化}{43}{section*.144}%
\contentsline {section}{\numberline {3.4}分布式控制策略设计}{45}{section*.146}%
\contentsline {subsection}{\numberline {3.4.1}基于梯度下降方法的策略设计}{46}{section*.149}%
\contentsline {subsection}{\numberline {3.4.2}覆盖区间的梯度计算}{47}{section*.152}%
\contentsline {subsection}{\numberline {3.4.3}覆盖边缘的梯度计算}{49}{section*.154}%
\contentsline {subsection}{\numberline {3.4.4}控制策略总结与数值计算方法}{50}{section*.156}%
\contentsline {section}{\numberline {3.5}数值仿真与分析}{53}{section*.165}%
\contentsline {subsection}{\numberline {3.5.1}固定数量的节点服务单个静态热点}{53}{section*.167}%
\contentsline {subsection}{\numberline {3.5.2}新节点加入与节点损失}{56}{section*.177}%
\contentsline {subsection}{\numberline {3.5.3}对动态切换热点的跟踪服务}{57}{section*.180}%
\contentsline {section}{\numberline {3.6}小结}{58}{section*.187}%
\contentsline {chapter}{\numberline {第4章\hspace {.3em}}基于连续信念空间的构型规划方法}{60}{section*.189}%
\contentsline {section}{\numberline {4.1}引言}{60}{section*.191}%
\contentsline {section}{\numberline {4.2}问题描述}{61}{section*.193}%
\contentsline {subsection}{\numberline {4.2.1}多智能体系统信念空间建模}{61}{section*.195}%
\contentsline {subsection}{\numberline {4.2.2}协同定位构型规划问题}{64}{section*.198}%
\contentsline {section}{\numberline {4.3}基于数值梯度的连续空间规划方法}{65}{section*.201}%
\contentsline {subsection}{\numberline {4.3.1}计算目标函数}{68}{section*.206}%
\contentsline {subsection}{\numberline {4.3.2}数值梯度计算}{68}{section*.208}%
\contentsline {subsection}{\numberline {4.3.3}构型规划算法与计算复杂度分析}{70}{section*.214}%
\contentsline {section}{\numberline {4.4}数值仿真与讨论}{71}{section*.216}%
\contentsline {subsection}{\numberline {4.4.1}自由空间的任务场景}{72}{section*.219}%
\contentsline {subsection}{\numberline {4.4.2}存在障碍的任务场景}{74}{section*.228}%
\contentsline {section}{\numberline {4.5}小结}{76}{section*.231}%
\contentsline {chapter}{\numberline {第5章\hspace {.3em}}基于概率拓扑的构型规划方法}{77}{section*.233}%
\contentsline {section}{\numberline {5.1}引言}{77}{section*.235}%
\contentsline {section}{\numberline {5.2}概率拓扑对目标函数的影响}{78}{section*.237}%
\contentsline {section}{\numberline {5.3}基于自适应参数选择的有限项近似概率计算方法}{81}{section*.239}%
\contentsline {subsection}{\numberline {5.3.1}圆盘观测模型与有限项近似}{82}{section*.243}%
\contentsline {subsection}{\numberline {5.3.2}截断误差稳定性分析}{85}{section*.247}%
\contentsline {subsection}{\numberline {5.3.3}基于平移膨胀的协方差校正}{90}{section*.254}%
\contentsline {subsection}{\numberline {5.3.4}基于自适应参数选择的连通概率预测算法}{92}{section*.261}%
\contentsline {subsection}{\numberline {5.3.5}概率预测算法精准度验证仿真}{94}{section*.264}%
\contentsline {section}{\numberline {5.4}基于拓扑概率预测的构型规划算法}{98}{section*.279}%
\contentsline {section}{\numberline {5.5}数值仿真结果}{100}{section*.286}%
\contentsline {subsection}{\numberline {5.5.1}CM仿真案例}{102}{section*.292}%
\contentsline {subsection}{\numberline {5.5.2}CLAP仿真场景}{105}{section*.308}%
\contentsline {section}{\numberline {5.6}小结}{109}{section*.326}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 结\hskip 1em\relax 论}{110}{section*.329}%
\contentsline {chapter}{参考文献}{112}{section*.332}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 附录\nobreakspace {}A\nobreakspace {} 协同定位的估计引擎}{126}{section*.337}%
\contentsline {section}{\numberline {A.1}滤波引擎：基于拓展卡尔曼滤波的协同定位}{127}{section*.339}%
\contentsline {section}{\numberline {A.2}平滑引擎：基于最大后验概率的协同定位}{128}{section*.343}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 附录\nobreakspace {}B\nobreakspace {} 小节\nobreakspace {}\ref {subsec. ch5sec3.2}中推论证明}{132}{section*.349}%
\contentsline {section}{\numberline {B.1}证明推论\nobreakspace {}\ref {cor. PROB_dw}}{132}{section*.351}%
\contentsline {section}{\numberline {B.2}证明推论\nobreakspace {}\ref {cor. PROB_recursive_c_w}}{132}{section*.353}%
\contentsline {section}{\numberline {B.3}证明推论\nobreakspace {}\ref {cor. PROB_e_w^D}}{133}{section*.355}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 攻读博士学位期间发表的论文及其他成果}{135}{section*.358}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 哈尔滨工业大学学位论文原创性声明和使用权限}{136}{section*.362}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 致\hskip 1em\relax 谢}{137}{section*.366}%
\contentsline {chapter}{\fontsize {12pt}{12pt}\selectfont 个人简历}{138}{section*.370}%
\contentsfinish 
